JPH01167191A - Method and device for distance-adjusting positioning drive particularly for elevator facility - Google Patents

Abstract

PURPOSE: To enable a distance actual value to follow a given distance desired value with high accuracy by regulating a control stage being a basis of a positioning drive as a standard control stage influenced by an obstacle. CONSTITUTION: An armature current IA supplied to an electric motor 1 is controlled through the final control element 7 of a cascade control device KR to be supplied to a current controller 9 connected to the front stage as a current actual value IAi by a current transformer 8. Similarly, a speed controller 10 is connected to the front stage of the current controller 9 so that this controller 10 receives the speed actual value Vi from a tachometer 12. A distance controller 13 receives the distance actual value Si from a distance generator 14 driven by a cage 5. In a control quantity generator FG, a distance desired value is constituted by integrating an impact model RM three times according to time by integrators 15, 16, 17 so that this value is sent to the cascade control device KR as a derived distance desired value Ss.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method and a device for adjusting the distance of a positioning drive having a cascade structure, by setting a suitable impact model and integrating this impact model three times according to time. A distance target value S5 and a speed target value v8 and an acceleration target value B which are directly applied to the speed and armature current adjustment circuit for forward direction correction connected to the subsequent stage are derived. By means of such an adjustment, the dynamic behavior of the positioning drive should be improved in such a way that the actual curve follows the predetermined optimal setpoint curve more closely. Arrival at the preselected position can then be realized optimally, that is to say while adhering to the conditions predetermined by the target curve and utilizing them as favorably as possible.

The positioning drive should function in such a way that it is possible to achieve the arrival at the individual desired position under given conditions. These conditions are, for example, that the tolerance range for positioning accuracy and arrival speed is very narrow, or that the target position must be reached without passing over it.

Also, often the positioning process must be completed in the shortest possible time, equipment-specific limit values with respect to impulses, accelerations, decelerations and speeds having to be observed.

Furthermore, it may also be required that energy losses be minimal. In any case, the regulating device and the appropriate setpoint curve acting on it as a control variable are of paramount importance.

From German Patent Application No. 3001778, a method and a device for distance adjustment of a positioning drive are known, in which a control variable generator is installed, the setpoint course of which is defined in the claims. Acts on the cascade adjustment devices described in the generic part of Section 1. In the control variable generator, a control value for the distance target value is constructed by integrating the impact value three times over time. acceleration,
That is, for the time integration of the impact, a starting regulator is installed whose limit value is the maximum impact, and the target value of this regulator is:
When the moving distance is short, the change is made depending on the remaining distance, and when the moving distance is relatively long, it is changed depending on the speed. The setpoint values obtained for distance, speed and acceleration are applied to a cascade control device, with the speed setpoint value and acceleration setpoint value being directly connected to the downstream speed or armature current regulator in the sense of forward correction. Sent. Since this post-transfer acceleration target value is derived depending on the remaining distance when the moving distance is short, a problem arises in accurately determining the remaining distance. In the above example, the remaining distance is determined not only at the beginning of each movement, but also continuously thereafter, as the difference between a given target position and the distance target value provided by the control variable generator. This residual distance determination thus presupposes that the actual distance value can follow the respective changes in the distance target value without significant traction errors.

If this is not guaranteed, the constructed target profile curve will not be optimal due to the inaccuracy of the residual distance determination, so that in the last part of the journey the resulting adjustment errors are compensated. Travel must always be carried out at a slow speed to ensure speed. Good control properties of the cascade regulating device are therefore essential for the construction of an optimal course curve.

It is also possible to use an optimum desired course curve calculated from input data and a given destination, for example by means of known course curve calculators, so that the actual distance value always follows the desired distance value, i.e. if the adjustment device is Optimal operation is achieved only when there is only a distance adjustment error.

In this connection, the use of a downstream speed and armature current regulation circuit and its forward correction with corresponding speed and acceleration setpoint values is disclosed in DE 3001718 A1. It is now clear that it is often insufficient to guarantee the control precision required, for example for high stopping accuracy, in high-grade positioning installations.

This is in particular due to load changes, which often occur on a large scale, and which can affect the positioning equipment as a disturbance in each individual trip. A further disadvantage therefore arises that drives adjusted in this manner often have to be oversized in order to be able to still accurately follow the target value even in unfavorable load conditions. Naturally, this limits the economy of the drive. The present invention
Improvements will be made to the points mentioned above.

To this end, the invention aims to provide a method and a device which ensure improved control characteristics in distance-adjusted positioning drives such that the actual distance value can continuously follow a given distance target value with high precision. shall be. The above-mentioned high control accuracy is also ensured, especially if disturbances, which vary from individual trips, affect the positioning drive or if distance corrections have to be carried out after a single stop in the area of the destination point. It should be.

It is.

Moreover, the method and device according to the invention constituted by the above-mentioned means still have the following advantages with respect to the positioning drive.

The first advantage results from the fact that no additional errors are introduced by using control variables obtained from multiple integrations. However, this will mostly be the case if the intermediate control variable is constituted by multiple derivatives of the distance target value. A second advantage is that all subsystems that are adjusted follow the applied control variables very precisely and with almost no delay. It is also clear that the control characteristics of the regulating device are largely independent both from the amplification factor of the regulator and from changes in the parameter values of the regulating stage.

The invention will be explained in more detail below with reference to the accompanying drawings, which show only an example of its application to the operation of an elevator installation, in which the device shown here is such that precise arrival at a position is achieved by means of an regulated drive. It is applicable to all cases where it is a problem.

In the application example shown in FIG. 1, the positioning drive to be adjusted consists of a cascade adjusting device KR and an adjusting stage R3, which is connected downstream of the cascade adjusting device KR and is configured as an elevator drive. In the controlled variable generator FC, a setpoint value for the control variable is constructed, which value is equal to the derived setpoint value R.
5, B8, ■8, S, l by the cascade adjustment device. The cascade adjustment device KR has all the features of the invention and is therefore described in more detail below with reference to FIG. 2. In the adjustment stage R3, which includes the elevator drive, the electric motor 1 is connected to the drive wheel 2, so that the cage 5 can be moved in the usual manner in the elevator shaft 6 by means of the traction row 13 and the counterweight 4. The armature current I^ supplied to the motor 1 is regulated via the final control element 7 of the cascade regulating device KR and by a current transformer 8 arranged in the armature current circuit as a current actual value ■^, The current is supplied to the current regulator 9 connected to the previous stage. Similarly, a speed regulator 10 is connected upstream of the current regulator 9, and this regulator 10 receives the actual speed V from a tachometer 12 connected to the motor 1. . A distance regulator 13 is connected upstream of the speed regulator 10, and this regulator 13 adjusts the actual distance value Si.
is taken from a distance generator 14 driven by the cage 5. Furthermore, the derived target values v8, B8 and R8 are directly applied as correction amounts to the downstream adjustment circuit and final control element 7 in the sense of forward correction. The principle of the downstream regulating circuit and its forward compensation, which is known per se, realizes a high-performance auxiliary means for improving the dynamic behavior of the regulated system by directly applying a corresponding control variable. do. In the control variable generator FG, a distance setpoint value is constructed by integrating the impact model R, three times over time using an integrator 15.16.17, and this value is sent as a derived distance setpoint value S8 to the cascade regulating device KR. sent to. The velocity target value and acceleration target value are raw as intermediate values of the above triple time integral, and these target values, together with the underlying impact model R, are derived target values v8, L, in the sense of forward correction. It is input to the cascade regulating device KR as Rs.

The operating sequence control device ensures a harmonization of the operating sequence of the controlled variable generator FC and the operating sequence of the cascade regulating device KR.

FIG. 2 is a schematic block diagram of the cascade regulating device KR. This figure contains all the features of the invention and will be described in detail. First of all, a useful method and apparatus for optimizing the control characteristics of a regulating device with respect to a standard regulating stage SR will be described, namely a quadruple forward correction of a cascade regulating device KR. In order to standardize the adjustment stage, a standardized series of values (W,, -2,...
, 1lIn) as the parameters of the adjustment stage (P, , P2,...
..., P,). A distance adjustment circuit is arranged at the forefront of the cascade structure, and this circuit has an S comparator 19 and an S adjuster 13. The S regulator 13 consists of a proportional amplifier 13.1, to which an integrating amplifier 13.3 can be connected in parallel via a switch 13.2. A speed adjustment circuit having a V comparator 20 and a V adjuster 10 is connected to the rear stage of the distance adjustment circuit, and a current adjustment circuit having an I comparator 21 and a JA regulator 9 is connected to a rear stage of this circuit. is connected. The final control element 7 can be configured as a static or rotating transformer or alternatively consist of a downstream voltage regulation circuit.

The cascade regulating device KR is forward-corrected, i.e. the derived setpoint values 8, B8 and R8 are input directly to the downstream readjustment circuit and to the final control element 7, taking into account the corresponding scaling factors. V target value v given and derived at that time
8 is applied to the V regulator 10 via the first V correction element 22 and to the final control element 7 via the second V correction element 26, and the derived B target value B8 is Curtain R
Together with the target value Rs, the B correction element 24 to the R correction element 25
is applied to the IA regulator 9 via.

The correction element 22.24.25.26 has a scaling factor KV,
Kll, KR, K[I are related. As a result, each regulating circuit directly acquires the associated control variable generated by the control variable generator FG without delay and precisely, i.e. the output variable to be provided by the regulator connected to the respective preceding stage is no longer , may not be equal to the feedback amount of the associated actual value signal so that the adjustment error of the downstream adjustment circuit is zero. Next, a switching means for eliminating the distance adjustment error ΔSF will be described.

The error ΔSF arises due to deterministic and stochastic disturbances affecting the standard regulation stage SR. The distance adjustment error ΔSFD due to deterministic disturbances reaches a measuring means 29 in which corresponding measurement values are constructed and stored in order to quantitatively detect the error Δspo. that time,
The distance adjustment error, which is automatically compensated during operation, for example as a result of dynamic stretching of the rope, is calculated in calculation means 31 and subtracted from the actual distance value Sl in differential amplifier 32.

In a preferred embodiment of the invention, the measuring means 29 is an integrator, which is activated for a certain period of time in the starting phase of the individual trip by the operating progress control device ΔS. The measured values provided by the measuring means 29 are transmitted to the function generator 30
The output signal of the function generator 30 is sent via the summing point 23 to the ■Δ comparator 21 located on the input side of the IA regulator 9. The distance adjustment error ΔSFs due to stochastic disturbances reaches the S adjuster 13 via the distance adjustment error multiplier 35 and thereby the proportional amplifier 13
．． 1 and an integrating amplifier 13.3 which can be connected by a switch 13.2.

This switching means is also relevant for rapid restart after a -degree stoppage. For such restart, comparator 19
A distance adjustment error multiplier 35 arranged between the S adjuster 13 and the S adjuster 13 functions. The multiplier 35 has a multiplication factor m, which during restart can be controlled via the inputs 35.1 and 35.2 by the operating progress control device ΔS or by the tachometer 12, which functions as a movement detector. The operating progress control device ΔS sets the value to >1 before the start of the movement, and the tachometer 12 returns the value to 1 at the start of the movement.

3 to 5 show graphs demonstrating the mechanism and function of the adjusting device according to the invention. From these graphs, it can be seen that the control characteristics of the distance adjustment device are similar to those of the cascade adjustment device KR.
A triple improvement is achieved by the multiple forward direction correction (Figure 3), the elimination of the range adjustment error ΔSF caused by obstacles (Figure 4), and the rapid restart after a -degree stop (Figure 5). It is clear that

FIG. 3a shows the setpoint course curves used for the forward correction of the cascade regulating device KR, determined successively by integration: the derived shock setpoint value R8, the derived acceleration setpoint value B8, the derived velocity setpoint value v8. and the derived distance target value SiI. Stages R,, R2, where the impact is constant;
R3, R1 and the stages B1 and B2 in which the acceleration is constant are clearly visible. Figures 3b and 3c show the actual transition curve corresponding to the above-mentioned target transition curve.
^1, speed ■□, and distance adjustment error ΔSF are shown below. FIG. 3b shows the case of the known forward correction with speed and acceleration, and FIG. 3c shows, in addition according to the invention, the armature current regulator 9 guided by the impulse setpoint value R8 and the final control. This is the case when the element 7 is corrected in the forward direction by the derived speed target value v5.

4a-4c are based on a deterministic disturbance in the form of a load measurement error ΔLM and a stochastic disturbance, which is not shown. The distance adjustment error ΔSF due to disturbances is clearly significant in FIG. 4a and varies only slightly, amounting to about 60 distance units at the destination point. In FIG. 4b, the deterministic load measurement error ΔLM has been compensated by the compensation signal K from the end of the first shock phase R1. For this compensation, as a starting test, the distance adjustment error ΔSF is integrated during the first shock phase R3 into an error signal ■, to which a corresponding compensation signal K is associated in the function generator 30. The compensation signal includes a slope increasing part 33 and a constant part 3.
It consists of 4. Due to this compensation, the distance adjustment error ΔSF towards the destination point is clearly reduced, if not completely eliminated, while heading towards the destination point.

In the case of FIG. 4c, after the end of the first shock phase R1, in addition to the generation of the compensation signal, the integrating amplifier 13.3
is connected, amplifier 13.3 still detects all remaining distance adjustment errors ΔSF, in particular stochastic distance adjustment errors Δ5FIl
Eliminate. . As a result of these measures, ie compensation and cancellation, the range adjustment error ΔSF due to disturbances is completely eliminated at the destination point.

It is clear from FIG. 5 how the restart can be accelerated if, despite the above-mentioned bundles, the car stops short of a floor at time L1, for example because of the residual distance adjustment error ΔSFR. The symbol R0 represents the sliding friction value, and the symbol R11 represents the static friction value; these two friction values are important during restart.

Because ΔS□ is relatively small and the adjustment speed of the distance adjuster 13 is small, the motor torque increases with a gentle slope, corresponding to the linear diagram 38, so that the restart is limited by the static friction R,l. This can only be realized at time t4 after reaching the floor, and the car arrives at the floor only at time t5. The corresponding distance actual course curve S11 follows the distance target course curve Si3 with a considerable delay, with a delay of ts
It is t+. A distance actual course curve that better follows the range target course curve Ss is designated by the symbol SL2. curve S
In order to obtain i2, the magnification m of the distance adjustment error multiplier 35 is set to the value - this at time t1. As a result, the increase in armature current 1 and therefore the increase in motor torque becomes steeper, as shown by diagram 39, which is also linear, so that the static friction R
, after which the movement begins already at time t2 and the car reaches the floor already at time t3.

That is, even in the case of a restart, the actual distance curve S1□ follows the target distance curve S8 relatively well, and the delay in this case is only h t+.

The method of functioning of the positioning drive will be explained with reference to FIGS. 1 to 5 and based on the method steps which are the basis of the invention. In this case, the novel method and device according to the invention are used for the operation of an elevator installation, in which a car can be moved from floor to floor in the usual way.

The function of the adjusting device is therefore to change the position of the car according to the distance-time function provided by the control variable generator FG. By changing the distance target values S and l according to time, even if operating conditions such as the car load change from one trip to another, it is possible to avoid significant adjustment deviations (position errors) from the actual distance value Si. It's over. Functionally, this results in a three-stage operating sequence, namely the control characteristic of the cascade regulating device KR, which is determined by the elevator parameters P1,
P2,...,P,.

A standardized series of values of -1, 1l12,...
, oath. This is achieved by optimizing the distance, eliminating the distance adjustment error ΔSF due to disturbances, and accelerating the restart after a stop.

In order to improve the control properties of the regulating device, the regulating device is first constructed as a cascade regulating device KR according to method steps N a ) and b) according to claim 1, in which the elevator parameters P1, P2, . . . ..., P
A standardized series of values of o -1, -2,...
It is tuned to Ill, . A standardized set of values W,
The selection of 1l12, . The operating conditions as described above include a cage load equal to the rated load of 172, also equal to the rated load of 172;
Particular mention may be made of the load compensation by means of the counterweight 1~, the complete compensation of weight imbalances as well as sliding friction in all cases. As a regulating stage for the cascade regulating device Klt, an elevator operated under the above-mentioned conditions is based on standardized operating conditions and will therefore be referred to hereinafter as a standard regulating stage SR. When this standard adjustment stage SR is adjusted by a conventional cascade adjustment device KR, the distance adjustment is substantially determined by the amplification of the distance adjuster 13, the amplification of the downstream adjustment circuit, and the dynamic characteristics of the adjustment stage. There is a possibility that an error ΔSF will occur.

Such an adjustment error ΔSF can also be obtained by means of known types of regulators such as P, PD and PID, and also by a so-called P disturbance variable feedforward system in the arrangement shown in FIG.
cannot be reduced sufficiently, since the slow-acting and weakly damped mechanical system allows only very slow corrections in the distance adjustment circuit. As a result of the above-mentioned errors, deceleration may occur when approaching the destination floor, or alternatively, after passing the destination floor, the vehicle may decelerate and reverse direction of travel before slowing down. According to the invention, therefore, the cascade regulating device KR is optimized by adapting its control characteristics to the standard regulating stage SR with a quadruple forward correction.

By appropriate selection of the scaling factors KV, KB, KR and υ calculated from the parameters of the standard regulating stage SR,
The distance adjustment error ΔSv due to time-dependent variations of the distance target value S8 can be significantly reduced. At that time, the second
The standardization factors KV, KB, KR, KU written in the figure are
The product of the control variable and the scaling factor is determined in such a way that the respective ideal target value for the downstream regulating circuit is obtained. (2) Only by applying 8, B, and RII simultaneously can the error in the subsequent connection loop be sufficiently reduced. In that case, the impact setting according to the invention is of particular importance.

The impulse setting according to the invention provides the advantage that the delays caused by slow operation of the current regulation circuit are reduced exactly in the instant when the controlled variable generator FC is looking for an instantaneous change. As a result, the final control element 7 is also in a state in which it can actually convert a given operating course of the adjusting device into a movement of the car. This will be explained below using the example of a DC drive. In a motor where the electric field does not weaken, E
Since MK is sufficiently proportional to the elevator speed, Vg and the modeling factors KV and KU provide the hoisting motor with the armature voltage required for the desired speed directly from the final control element 7 or from the voltage regulating circuit connected downstream. can be done. In order to be able to change the armature current sufficiently rapidly at the beginning and end of the impulse phase, the output voltage of the final control element 7 is further influenced via a current regulator 9 by R8 and a scaling factor KR. . This also applies to the voltage regulating path a connected to the subsequent stage. In drives where the electric field weakens, the scaling factors KR1KV and KU are correspondingly adapted to the weakening of the electric field.

By virtue of the forward correction of the cascade regulating device KR mentioned above, the control characteristics of this device KR are optimized with respect to a standardized series of values of the elevator parameters, so that, according to FIG. 3c, rapid changes in the controlled variable The distance adjustment error ΔsF due to is significantly reduced. Shigashi,
It can be assumed that in the operation of an elevator installation the series of values of the elevator parameters changes and does not occur, since the operating conditions are usually different from side to side, and such operating conditions are such that at least some of the values of the elevator parameters change. This is because it changes the . This concerns, for example, the load value and thus also the mass, the load position, the sliding friction and, in the shell, the data of the spring-mass system represented by the elevator. Any parameter value variation ΔW, , Δ to 2, related to the standardized parameter value.
ΔL will be referred to as a "failure" hereinafter. As a result of this disturbance, the tuning of the cascade adjustment device KR and the adjustment stage SR achieved by the quadruple forward correction is no longer optimal, which leads to a new distance adjustment error ΔSF. Therefore, steps C), d) and e) of the method according to the invention as defined in claim 1 provide that the
It is considered most important to also eliminate the distance adjustment error ΔSF, which varies from one trip to another. To this end, it is recognized that faults that are significant in terms of regulation technology and that affect elevator installations can be detected quantitatively by start-up tests and are deterministic in the sense that they remain constant during a single trip. It is assumed. Remaining faults that are less significant in magnitude are stochastic in the sense that they can vary arbitrarily during a single trip from being determined by a start-up test. The distance adjustment error ΔSFD due to deterministic disturbances can therefore be predicted, so that a corresponding modification of the cascade adjustment device KR without feedback can be programmed at will. In other words, the quadruple forward-corrected cascade regulating device KR according to the invention is also configured as a parameter-adaptive regulating system, which automatically adapts to deterministic parameter value changes for each individual trip. Adapt to. To eliminate the range adjustment error ΔSF due to disturbances, the deterministic range adjustment error ΔSFD is now compensated according to the invention by means of a compensation signal K, and the stochastic range adjustment error Δ5FAI is compensated by the integrating amplifier 13 . It is resolved by 3.

Such a failure suppression method is shown in the graphs 28 in FIGS. 4a to 4c. In FIG. 4a, a load measurement error ΔLM of 120% of the rated load is assumed as a deterministic obstacle.

This error ΔLM results in a corresponding evolution of the distance adjustment error ΔSFa. The cage remains approximately 60 distance units in front of the destination, or approximately 30xx, because 65
This is because approximately 60 distance units are required to compensate for the assumed load measurement error ΔLM in amperes. In Figure 41),
The compensation of the above deterministic load measurement error ΔLM is shown. During the first impact R1, the distance adjustment error ΔSFD is measured by the measuring means 29
is integrated over time at . The resulting integral, denoted by the symbol ■, is the value of the quantity with respect to the assumed load measurement error ΔLM, or normally any deterministic disturbances present. In the function generator 30, a slowly increasing compensation signal K is now constituted by the slope increasing part 33 and the constant part 34, which signal is applied to the IA regulator 9 to compensate for the distance adjustment error ΔSFD which occurs over the remaining journey. will be fully compensated. The relationship between (2) and the amplitude of K can be determined mathematically or empirically and is stored in the function generator 30 as a function. As a result of this compensation by K, the remaining distance adjustment error ΔSF becomes small at the end of the trip and essentially consists of the stochastic distance adjustment error Δ5FIi. According to FIG. 4c, the error ΔSFg is completely eliminated by the connection of the integrating amplifier 13.3 of the S regulator 13 by the end of the trip. Obviously, other deterministic distance adjustment errors Δ5F that are not fully compensated due to low precision, e.g.
II is also resolved as described above. Only if the deterministic distance adjustment error ΔSFD is significantly reduced by the compensation signal K can it be effective to install the PI adjuster in the distance adjustment circuit, which is only possible if the distance adjustment circuit is very small. The remaining distance adjustment error ΔSF is made zero within a short time until the end of the operation at the adjusted speed. The adjustment speed in the distance adjustment circuit can be increased for stability reasons, since the mechanical system is very slow-acting and
This is because the brakes are only weakly applied.

Finally, FIG. 5 shows that the device according to the invention ensures good control characteristics even if the elevator accidentally stops at a floor other than the destination floor. The above situation is caused by the fact that despite the optimization of the cascade adjustment device KR, a residual distance adjustment error ΔSFR still exists even after eliminating the distance adjustment errors ΔSFD and ΔSF8 caused by failures, and this error ΔSF
This can be done if R stops the car slightly before or slightly past the destination floor.

In terms of regulating technology, this means a structural modification of the regulating stage RS, in which case the regulating stage RS is still only constituted by the armature current circuit of the hoisting motor, which is blocked by static friction. In such cases, good control characteristics require an accelerated restart that brings the car to its destination as quickly as possible. In this case, since the residual distance adjustment error ΔSFR that exists is small and the adjustment speed of the S adjuster 13 is small, the motor torque increases only slowly according to the linear diagram 38, i.e. the movement of the cage is caused by static friction. It begins only at the time t4 after reaching R8, and therefore the arrival at the destination floor is based on the actual transition curve Sll
for the first time at time t5 according to 15-1. A problem arises in that it is realized with a large delay.

More rapid restarts with shorter delays are needed. For this purpose, the distance adjustment error ΔS□, which is larger than the result of controlling the magnification m, results in an increase in the armature current and therefore in the motor torque, yet still as shown in the linear diagram 39. A more steep transition is realized.

As a result, static friction RII is exceeded already at time t2 and the car begins to move. For stability reasons, at the start of the movement the river is again taken to the value 1 by the movement detector 12, so that the cage receives the motor torque M, > R,
Therefore, it approaches the destination floor according to the actual transition curve Si2, and arrives at the destination floor at time t3 with a small delay h j+.

It is clear to those skilled in the art that the invention is not limited to the embodiments described above. In particular, the invention is also suitable for door drives in the field of elevators.

Furthermore, the implementation of the method according to the invention is not limited to the use of analog components; the method according to the invention can also be implemented in hybrid technology or with the aid of a microprocessor or other digital computer, which is operated in accordance with the device operating plan. It is equally preferable and can be implemented.

[Brief explanation of the drawing]

1 is an explanatory diagram showing the arrangement and principle structure of a positioning drive for distance adjustment in an elevator installation; FIG. 2 is a schematic block diagram of the cascade adjustment device according to the invention shown in FIG. 1; 3a is a graph illustrating the relationships for optimizing the control characteristics of the cascade regulating device with respect to the standard regulating stage by means of target profile curves for distance setting and quadruple forward correction; FIG. 3b is shown in FIG. 3a; The relationship shown in FIG. 3c is a graph showing the relationship shown in FIG.
FIG. 4a shows a diagram of the optimized control characteristics during forward correction with V-KV, B, R and V-Kl, when eliminating the influence of disturbances on the control characteristics of the cascade regulating device; Figure 4b is a graph showing the relationships between the graphs under the influence of a deterministic failure (load measurement error ΔLM') and a transition diagram under the influence of a stochastic failure. Figure 4c shows the transition diagram of Figure 4a in the case where compensation for the influence of the deterministic disturbance ΔLM and elimination of the influence of the stochastic disturbance are realized simultaneously. The graph in FIG. 5 is a graph showing various relationships when restarting rapidly after stopping once. 7...Final control element, 9...Current regulator, 1
0... Speed adjuster, 13... Distance adjuster, 13.3... Integral amplifier.゛

Claims (8)

[Claims] (1) A method for adjusting the distance of a positioning drive device having a cascade structure, in which a suitable impact model is set, and this impact model is integrated three times according to time, thereby determining the distance target value and the order in which the subsequent stages are connected. A speed setpoint value and an acceleration setpoint value applied directly to the speed and armature current regulation circuit for directional correction are derived, and a) the regulating stage forming the basis of the positioning drive is a standard regulating stage which can be influenced by disturbances; The standard control stage is then characterized by a standardized set of values of the control stage parameters, and in the event of a disturbance, this standard parameter value is supplemented by the parameter value changes caused by the fault. b) In the learning run of the positioning drive, the cascade regulating device is tuned to the standardized set of values of the parameters of the standard regulating stage by means of a quadruple forward correction to change its control characteristics to that of the standard regulating stage. The speed regulator is optimized with respect to the derived speed setpoint value, the current regulator with the derived acceleration setpoint value and impulse setpoint value, and the final control element with the derived speed setpoint value. c) Faults that can affect the standard control stage during operation are classified into two types: deterministic faults, which can be determined by start-up tests, and stochastic faults, which cannot be determined by start-up tests. d) Deterministic faults are quantitatively detected during the start-up phase of each trip by a start-up test, and from the detected faults a compensating signal is formed, which signal corresponds to the corresponding distance adjustment appearing throughout the remaining trip. fully compensate for the error ΔS_F_D; e) the distance adjustment error ΔS_ caused by stochastic disturbances;
F_S is applied to an integrating amplifier that can be connected in the distance adjuster after the end of the starting test, and the integrating amplifier completely eliminates all distance adjustment errors ΔS_F still remaining after said optimization and compensation by the end of the trip, f ) A method characterized in that for a restart after a stop to a destination other than the destination, the corresponding residual distance adjustment error ΔS_F_R is increased in a short time. (2) A start-up test is carried out, in which the disturbances that are offset through the journey itself are continuously calculated and subtracted from the actual distance value S_i, resulting in a distance adjustment error ΔS.
2. Method according to claim 1, characterized in that a time integral is constructed between_F and the first impact phase. (3) Apparatus for carrying out the method according to claim 1, comprising: - optimizing the control characteristics of the cascade regulating device with respect to a standard regulating stage characterized by a standardized set of values of the regulating stage parameters; In order to and the derived setpoint value of the velocity is also sent to the final control element via a correction element with a scaling factor, - for compensation of distance adjustment errors arising due to deterministic disturbances. a measuring means is connected between the output of the distance comparator and the input of the function generator, the output of the function generator being connected to the first summing element; - a stochastic disturbance; In order to eliminate distance adjustment errors caused by In order to increase the distance adjustment error ΔS_F in a short time, a distance adjustment error multiplier with a controllable multiplier is installed, which multiplier is connected downstream of the distance comparator and whose multiplier is For control purposes, it is connected to a higher-level operating progress controller and to a movement detector, in which case the magnification is controlled from a value of 1 to a value greater than 1 before the start of the movement, and again from a value greater than 1 at the start of the movement. A device characterized in that it is controlled to a value of 1. 4. Device according to claim 3, characterized in that the scaling factor of the correction element can be adjusted. 5. Device according to claim 3, characterized in that the measuring means is an integrator, which integrates the distance adjustment error ΔS_F during the first impact phase. 6. Apparatus according to claim 3, characterized in that the function generator generates a compensation signal, which signal consists of a slope increasing part and a constant part. (7) The amplitude of the constant part is a function of the error signal formed by the measuring means, and the slope increasing part reaching the constant part can either have a variable slope angle and a constant increase time, or a variable increase time and a slope. 7. Device according to claim 6, characterized in that the angle is constant. 8. Device according to claim 3, characterized in that for the calculation of the dynamic elongation of the rope, the cage position is represented by a distance actual value.